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comparison Discovery/Src/data_central.c @ 539:d784f281833a

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Added inertia simulation for compass heading: In previous version calculated compass values were directly used for visualization of the compass. This causes a fast changing (jumping) of values. With the inertia introduction the compass behalfs more like an analog compass. The final value is reached slowly and the displayed values are more stable. For configuration a new menu item has been added to the compass menu allowing to switch inertia off (default), small and large inertia simulation
author Ideenmodellierer
date Sat, 10 Oct 2020 16:59:18 +0200
parents 95928ef3986f
children 1b995079c045
comparison
equal deleted inserted replaced
538:b1eee27cd02b 539:d784f281833a
59 ****************************************************************************** 59 ******************************************************************************
60 */ 60 */
61 61
62 /* Includes ------------------------------------------------------------------*/ 62 /* Includes ------------------------------------------------------------------*/
63 #include <string.h> 63 #include <string.h>
64 #include <math.h>
64 #include "data_central.h" 65 #include "data_central.h"
65 #include "calc_crush.h" 66 #include "calc_crush.h"
66 #include "decom.h" 67 #include "decom.h"
67 #include "stm32f4xx_hal.h" 68 #include "stm32f4xx_hal.h"
68 #include "settings.h" 69 #include "settings.h"
100 .is_data_from_RTE_CPU = 0, 101 .is_data_from_RTE_CPU = 0,
101 }; 102 };
102 103
103 const SDiveState *stateUsed = &stateReal; 104 const SDiveState *stateUsed = &stateReal;
104 SDiveState *stateUsedWrite = &stateReal; 105 SDiveState *stateUsedWrite = &stateReal;
106
107
108 #define COMPASS_FRACTION (4.0f) /* delay till value changes to new actual */
109
110 static float compass_compensated = 0;
105 111
106 void set_stateUsedToReal(void) 112 void set_stateUsedToReal(void)
107 { 113 {
108 stateUsed = stateUsedWrite = &stateReal; 114 stateUsed = stateUsedWrite = &stateReal;
109 } 115 }
768 else if(lifeData->pressure_ambient_bar < (lifeData->pressure_surface_bar + 0.1f)) 774 else if(lifeData->pressure_ambient_bar < (lifeData->pressure_surface_bar + 0.1f))
769 return true; 775 return true;
770 else 776 else
771 return false; 777 return false;
772 } 778 }
779
780 void compass_Inertia(float newHeading)
781 {
782 float newTarget = newHeading;
783
784 if(settingsGetPointer()->compassInertia == 0)
785 {
786 compass_compensated = newHeading;
787 }
788 else
789 {
790 if((compass_compensated > 270.0) && (newHeading < 90.0)) /* transition passing 0 clockwise */
791 {
792 newTarget = newHeading + 360.0;
793 }
794
795 if((compass_compensated < 90.0) && (newHeading > 270.0)) /* transition passing 0 counter clockwise */
796 {
797 newTarget = newHeading - 360.0;
798 }
799
800 compass_compensated = compass_compensated + ((newTarget - compass_compensated) / (COMPASS_FRACTION * (settingsGetPointer()->compassInertia)));
801 if(compass_compensated < 0.0)
802 {
803 compass_compensated += 360.0;
804 }
805 if(compass_compensated >= 360.0)
806 {
807 compass_compensated -= 360.0;
808 }
809 }
810 }
811
812 float compass_getCompensated()
813 {
814 return compass_compensated;
815 }
816